相关论文: Poke and Strike: Learning Task-Informed Exploratio…

We present a behaviour-based reinforcement learning approach, inspired by Brook's subsumption architecture, in which simple fully connected networks are trained as reactive behaviours. Our working assumption is that a pick and place robotic…

Deep reinforcement learning has seen successful implementations on humanoid robots to achieve dynamic walking. However, these implementations have been so far successful in simple environments void of obstacles. In this paper, we aim to…

In this paper, we address the problem of task-oriented grasping for humanoid robots, emphasizing the need to align with human social norms and task-specific objectives. Existing methods, employ a variety of open-loop and closed-loop…

Robots deployed in many real-world settings need to be able to acquire new skills and solve new tasks over time. Prior works on planning with skills often make assumptions on the structure of skills and tasks, such as subgoal skills, shared…

This paper addresses the problem of learning optimal control policies for systems with uncertain dynamics and high-level control objectives specified as Linear Temporal Logic (LTL) formulas. Uncertainty is considered in the workspace…

In recent years, reinforcement learning (RL) has shown great potential for solving tasks in well-defined environments like games or robotics. This paper aims to solve the robotic reaching task in a simulation run on the Neurorobotics…

This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…

Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…

Enabling legged robots to perform non-prehensile loco-manipulation is crucial for enhancing their versatility. Learning behaviors such as whole-body object pushing often requires sophisticated planning strategies or extensive task-specific…

When robots enter everyday human environments, they need to understand their tasks and how they should perform those tasks. To encode these, reward functions, which specify the objective of a robot, are employed. However, designing reward…

Effective exploration in reinforcement learning requires not only tracking where an agent has been, but also understanding how the agent perceives and represents the world. To learn powerful representations, an agent should actively explore…

We explore possible methods for multi-task transfer learning which seek to exploit the shared physical structure of robotics tasks. Specifically, we train policies for a base set of pre-training tasks, then experiment with adapting to new…

Reusing the tactile knowledge of some previously-explored objects helps us humans to easily recognize the tactual properties of new objects. In this master thesis, we enable arobotic arm equipped with multi-modal artificial skin, like…

While using shaped rewards can be beneficial when solving sparse reward tasks, their successful application often requires careful engineering and is problem specific. For instance, in tasks where the agent must achieve some goal state,…

People have a variety of preferences for how robots behave. To understand and reason about these preferences, robots aim to learn a reward function that describes how aligned robot behaviors are with a user's preferences. Good…

In this work, we address the challenge of data-efficient exploration in reinforcement learning by examining existing principled, information-theoretic approaches to intrinsic motivation. Specifically, we focus on a class of exploration…

To increase autonomy in reinforcement learning, agents need to learn useful behaviours without reliance on manually designed reward functions. To that end, skill discovery methods have been used to learn the intrinsic options available to…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Reinforcement learning offers the promise of automating the acquisition of complex behavioral skills. However, compared to commonly used and well-understood supervised learning methods, reinforcement learning algorithms can be brittle,…

This paper tackles the task of goal-conditioned dynamic manipulation of deformable objects. This task is highly challenging due to its complex dynamics (introduced by object deformation and high-speed action) and strict task requirements…